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This document is a thesis submitted in partial fulfillment of the requirements for a Bachelor of Science degree in Mechanical Engineering. It presents research on stabilizing and controlling linear and rotary inverted pendulum systems. The linear system is analyzed using a pendulum on a cart and a two-wheel self-balancing vehicle. A PID controller is designed and simulated in MATLAB to balance the linear system. A rotary inverted pendulum prototype is also controlled using pole placement and linear quadrati

Author

camilo_peña_37

Language

EN